Re: [PATCH 6/9] iio: adis16260: Add ADIS16266 support

[Jonathan Cameron <jic23@kernel.org>]

On 05/08/15 14:38, Lars-Peter Clausen wrote:
> The ADIS16266 is mostly register compatible to the ADIS16260. The
> difference is a different gyroscope scale factor as well not having the
> relative angular displacement channel.
> 
> Signed-off-by: Lars-Peter Clausen <lars@metafoo.de>
Applied. I would have slightly preferred a rework patch then
a new driver patch, but I guess there isn't much in here really.

Jonathan
> ---
>  drivers/iio/gyro/adis16260.c | 137 +++++++++++++++++++++++++++++++------------
>  1 file changed, 98 insertions(+), 39 deletions(-)
> 
> diff --git a/drivers/iio/gyro/adis16260.c b/drivers/iio/gyro/adis16260.c
> index 75fe0ed..00c6ad9 100644
> --- a/drivers/iio/gyro/adis16260.c
> +++ b/drivers/iio/gyro/adis16260.c
> @@ -101,19 +101,24 @@
>  #define ADIS16260_SCAN_TEMP	3
>  #define ADIS16260_SCAN_ANGL	4
>  
> -/* Power down the device */
> -static int adis16260_stop_device(struct iio_dev *indio_dev)
> -{
> -	struct adis *adis = iio_priv(indio_dev);
> -	int ret;
> -	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
> +struct adis16260_chip_info {
> +	unsigned int gyro_max_val;
> +	unsigned int gyro_max_scale;
> +	const struct iio_chan_spec *channels;
> +	unsigned int num_channels;
> +};
>  
> -	ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
> -	if (ret)
> -		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
> +struct adis16260 {
> +	const struct adis16260_chip_info *info;
>  
> -	return ret;
> -}
> +	struct adis adis;
> +};
> +
> +enum adis16260_type {
> +	ADIS16251,
> +	ADIS16260,
> +	ADIS16266,
> +};
>  
>  static const struct iio_chan_spec adis16260_channels[] = {
>  	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
> @@ -131,6 +136,55 @@ static const struct iio_chan_spec adis16260_channels[] = {
>  	IIO_CHAN_SOFT_TIMESTAMP(5),
>  };
>  
> +static const struct iio_chan_spec adis16266_channels[] = {
> +	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
> +		BIT(IIO_CHAN_INFO_CALIBBIAS) |
> +		BIT(IIO_CHAN_INFO_CALIBSCALE),
> +		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
> +	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
> +		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
> +	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
> +		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
> +	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
> +		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
> +	IIO_CHAN_SOFT_TIMESTAMP(4),
> +};
> +
> +static const struct adis16260_chip_info adis16260_chip_info_table[] = {
> +	[ADIS16251] = {
> +		.gyro_max_scale = 80,
> +		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
> +		.channels = adis16260_channels,
> +		.num_channels = ARRAY_SIZE(adis16260_channels),
> +	},
> +	[ADIS16260] = {
> +		.gyro_max_scale = 320,
> +		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
> +		.channels = adis16260_channels,
> +		.num_channels = ARRAY_SIZE(adis16260_channels),
> +	},
> +	[ADIS16266] = {
> +		.gyro_max_scale = 14000,
> +		.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
> +		.channels = adis16266_channels,
> +		.num_channels = ARRAY_SIZE(adis16266_channels),
> +	},
> +};
> +
> +/* Power down the device */
> +static int adis16260_stop_device(struct iio_dev *indio_dev)
> +{
> +	struct adis16260 *adis16260 = iio_priv(indio_dev);
> +	int ret;
> +	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
> +
> +	ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
> +	if (ret)
> +		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
> +
> +	return ret;
> +}
> +
>  static const u8 adis16260_addresses[][2] = {
>  	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
>  };
> @@ -140,7 +194,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
>  			      int *val, int *val2,
>  			      long mask)
>  {
> -	struct adis *adis = iio_priv(indio_dev);
> +	struct adis16260 *adis16260 = iio_priv(indio_dev);
> +	const struct adis16260_chip_info *info = adis16260->info;
> +	struct adis *adis = &adis16260->adis;
>  	int ret;
>  	u8 addr;
>  	s16 val16;
> @@ -152,15 +208,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
>  	case IIO_CHAN_INFO_SCALE:
>  		switch (chan->type) {
>  		case IIO_ANGL_VEL:
> -			*val = 0;
> -			if (spi_get_device_id(adis->spi)->driver_data) {
> -				/* 0.01832 degree / sec */
> -				*val2 = IIO_DEGREE_TO_RAD(18320);
> -			} else {
> -				/* 0.07326 degree / sec */
> -				*val2 = IIO_DEGREE_TO_RAD(73260);
> -			}
> -			return IIO_VAL_INT_PLUS_MICRO;
> +			*val = info->gyro_max_scale;
> +			*val2 = info->gyro_max_val;
> +			return IIO_VAL_FRACTIONAL;
>  		case IIO_INCLI:
>  			*val = 0;
>  			*val2 = IIO_DEGREE_TO_RAD(36630);
> @@ -224,7 +274,8 @@ static int adis16260_write_raw(struct iio_dev *indio_dev,
>  			       int val2,
>  			       long mask)
>  {
> -	struct adis *adis = iio_priv(indio_dev);
> +	struct adis16260 *adis16260 = iio_priv(indio_dev);
> +	struct adis *adis = &adis16260->adis;
>  	int ret;
>  	u8 addr;
>  	u8 t;
> @@ -305,35 +356,42 @@ static const struct adis_data adis16260_data = {
>  
>  static int adis16260_probe(struct spi_device *spi)
>  {
> +	const struct spi_device_id *id;
> +	struct adis16260 *adis16260;
>  	struct iio_dev *indio_dev;
> -	struct adis *adis;
>  	int ret;
>  
> +	id = spi_get_device_id(spi);
> +	if (!id)
> +		return -ENODEV;
> +
>  	/* setup the industrialio driver allocated elements */
> -	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
> +	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
>  	if (!indio_dev)
>  		return -ENOMEM;
> -	adis = iio_priv(indio_dev);
> +	adis16260 = iio_priv(indio_dev);
>  	/* this is only used for removal purposes */
>  	spi_set_drvdata(spi, indio_dev);
>  
> -	indio_dev->name = spi_get_device_id(spi)->name;
> +	adis16260->info = &adis16260_chip_info_table[id->driver_data];
> +
> +	indio_dev->name = id->name;
>  	indio_dev->dev.parent = &spi->dev;
>  	indio_dev->info = &adis16260_info;
> -	indio_dev->channels = adis16260_channels;
> -	indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
> +	indio_dev->channels = adis16260->info->channels;
> +	indio_dev->num_channels = adis16260->info->num_channels;
>  	indio_dev->modes = INDIO_DIRECT_MODE;
>  
> -	ret = adis_init(adis, indio_dev, spi, &adis16260_data);
> +	ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
>  	if (ret)
>  		return ret;
>  
> -	ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
> +	ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
>  	if (ret)
>  		return ret;
>  
>  	/* Get the device into a sane initial state */
> -	ret = adis_initial_startup(adis);
> +	ret = adis_initial_startup(&adis16260->adis);
>  	if (ret)
>  		goto error_cleanup_buffer_trigger;
>  	ret = iio_device_register(indio_dev);
> @@ -343,18 +401,18 @@ static int adis16260_probe(struct spi_device *spi)
>  	return 0;
>  
>  error_cleanup_buffer_trigger:
> -	adis_cleanup_buffer_and_trigger(adis, indio_dev);
> +	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
>  	return ret;
>  }
>  
>  static int adis16260_remove(struct spi_device *spi)
>  {
>  	struct iio_dev *indio_dev = spi_get_drvdata(spi);
> -	struct adis *adis = iio_priv(indio_dev);
> +	struct adis16260 *adis16260 = iio_priv(indio_dev);
>  
>  	iio_device_unregister(indio_dev);
>  	adis16260_stop_device(indio_dev);
> -	adis_cleanup_buffer_and_trigger(adis, indio_dev);
> +	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
>  
>  	return 0;
>  }
> @@ -364,11 +422,12 @@ static int adis16260_remove(struct spi_device *spi)
>   * support for the on chip filtering.
>   */
>  static const struct spi_device_id adis16260_id[] = {
> -	{"adis16260", 0},
> -	{"adis16265", 0},
> -	{"adis16250", 0},
> -	{"adis16255", 0},
> -	{"adis16251", 1},
> +	{"adis16260", ADIS16260},
> +	{"adis16265", ADIS16260},
> +	{"adis16266", ADIS16266},
> +	{"adis16250", ADIS16260},
> +	{"adis16255", ADIS16260},
> +	{"adis16251", ADIS16251},
>  	{}
>  };
>  MODULE_DEVICE_TABLE(spi, adis16260_id);
>